Hi all,
I'm struggling to complete derivations for the system described in the attachment. I've never been good at coordinate transformations so could really use some help with the steps.
Would like to derive the equations as listed in the attachment.

Hi all,
I'm struggling to complete derivations for the system described in the attachment. I've never been good at coordinate transformations so could really use some help with the steps.
Would like to derive the equations as listed in the attachment.

Thanks very much in advance!

I'm a bit confused over the diagram. There has to be a friction force on the ball else you will not have a force F2. What exactly is the problem statement?

The acceleration terms derived listed in the photo are just for the F=ma term for the free body diagram (which are covered on the next page).
The problem is the acceleration and velocity at contact point are just stated, and I want to be able to understand how the derivations have been done.
I'm assuming its a coordinate transformation of the position of the centre of the ball to the new datum A, but I'm not getting anywhere with the steps.